/*
 * A Demo to OpenCV Implementation of SURF
 * Further Information Refer to "SURF: Speed-Up Robust Feature"
 * Author: Liu Liu
 * liuliu.1987+opencv@gmail.com
 */
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/imgproc/imgproc_c.h>

#include <iostream>
#include <vector>

using namespace std;


// define whether to use approximate nearest-neighbor search
#define USE_FLANN


IplImage *image = 0;

double
compareSURFDescriptors( const float* d1, const float* d2, double best, int length )
{
    double total_cost = 0;
    assert( length % 4 == 0 );
    for( int i = 0; i < length; i += 4 )
    {
        double t0 = d1[i] - d2[i];
        double t1 = d1[i+1] - d2[i+1];
        double t2 = d1[i+2] - d2[i+2];
        double t3 = d1[i+3] - d2[i+3];
        total_cost += t0*t0 + t1*t1 + t2*t2 + t3*t3;
        if( total_cost > best )
            break;
    }
    return total_cost;
}


int
naiveNearestNeighbor( const float* vec, int laplacian,
                      const CvSeq* model_keypoints,
                      const CvSeq* model_descriptors )
{
    int length = (int)(model_descriptors->elem_size/sizeof(float));
    int i, neighbor = -1;
    double d, dist1 = 1e6, dist2 = 1e6;
    CvSeqReader reader, kreader;
    cvStartReadSeq( model_keypoints, &kreader, 0 );
    cvStartReadSeq( model_descriptors, &reader, 0 );

    for( i = 0; i < model_descriptors->total; i++ )
    {
        const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr;
        const float* mvec = (const float*)reader.ptr;
    	CV_NEXT_SEQ_ELEM( kreader.seq->elem_size, kreader );
        CV_NEXT_SEQ_ELEM( reader.seq->elem_size, reader );
        if( laplacian != kp->laplacian )
            continue;
        d = compareSURFDescriptors( vec, mvec, dist2, length );
        if( d < dist1 )
        {
            dist2 = dist1;
            dist1 = d;
            neighbor = i;
        }
        else if ( d < dist2 )
            dist2 = d;
    }
    if ( dist1 < 0.6*dist2 )
        return neighbor;
    return -1;
}

void
findPairs( const CvSeq* objectKeypoints, const CvSeq* objectDescriptors,
           const CvSeq* imageKeypoints, const CvSeq* imageDescriptors, vector<int>& ptpairs )
{
    int i;
    CvSeqReader reader, kreader;
    cvStartReadSeq( objectKeypoints, &kreader );
    cvStartReadSeq( objectDescriptors, &reader );
    ptpairs.clear();

    for( i = 0; i < objectDescriptors->total; i++ )
    {
        const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr;
        const float* descriptor = (const float*)reader.ptr;
        CV_NEXT_SEQ_ELEM( kreader.seq->elem_size, kreader );
        CV_NEXT_SEQ_ELEM( reader.seq->elem_size, reader );
        int nearest_neighbor = naiveNearestNeighbor( descriptor, kp->laplacian, imageKeypoints, imageDescriptors );
        if( nearest_neighbor >= 0 )
        {
            ptpairs.push_back(i);
            ptpairs.push_back(nearest_neighbor);
        }
    }
}


void
flannFindPairs( const CvSeq*, const CvSeq* objectDescriptors,
           const CvSeq*, const CvSeq* imageDescriptors, vector<int>& ptpairs )
{
	int length = (int)(objectDescriptors->elem_size/sizeof(float));

    cv::Mat m_object(objectDescriptors->total, length, CV_32F);
	cv::Mat m_image(imageDescriptors->total, length, CV_32F);


	// copy descriptors
    CvSeqReader obj_reader;
	float* obj_ptr = m_object.ptr<float>(0);
    cvStartReadSeq( objectDescriptors, &obj_reader );
    for(int i = 0; i < objectDescriptors->total; i++ )
    {
        const float* descriptor = (const float*)obj_reader.ptr;
        CV_NEXT_SEQ_ELEM( obj_reader.seq->elem_size, obj_reader );
        memcpy(obj_ptr, descriptor, length*sizeof(float));
        obj_ptr += length;
    }
    CvSeqReader img_reader;
	float* img_ptr = m_image.ptr<float>(0);
    cvStartReadSeq( imageDescriptors, &img_reader );
    for(int i = 0; i < imageDescriptors->total; i++ )
    {
        const float* descriptor = (const float*)img_reader.ptr;
        CV_NEXT_SEQ_ELEM( img_reader.seq->elem_size, img_reader );
        memcpy(img_ptr, descriptor, length*sizeof(float));
        img_ptr += length;
    }

    // find nearest neighbors using FLANN
    cv::Mat m_indices(objectDescriptors->total, 2, CV_32S);
    cv::Mat m_dists(objectDescriptors->total, 2, CV_32F);
    cv::flann::Index flann_index(m_image, cv::flann::KDTreeIndexParams(4));  // using 4 randomized kdtrees
    flann_index.knnSearch(m_object, m_indices, m_dists, 2, cv::flann::SearchParams(64) ); // maximum number of leafs checked

    int* indices_ptr = m_indices.ptr<int>(0);
    float* dists_ptr = m_dists.ptr<float>(0);
    for (int i=0;i<m_indices.rows;++i) {
    	if (dists_ptr[2*i]<0.6*dists_ptr[2*i+1]) {
    		ptpairs.push_back(i);
    		ptpairs.push_back(indices_ptr[2*i]);
    	}
    }
}


/* a rough implementation for object location */
int
locatePlanarObject( const CvSeq* objectKeypoints, const CvSeq* objectDescriptors,
                    const CvSeq* imageKeypoints, const CvSeq* imageDescriptors,
                    const CvPoint src_corners[4], CvPoint dst_corners[4] )
{
    double h[9];
    CvMat _h = cvMat(3, 3, CV_64F, h);
    vector<int> ptpairs;
    vector<CvPoint2D32f> pt1, pt2;
    CvMat _pt1, _pt2;
    int i, n;

#ifdef USE_FLANN
    flannFindPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
#else
    findPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
#endif

    n = (int)(ptpairs.size()/2);
    if( n < 4 )
        return 0;

    pt1.resize(n);
    pt2.resize(n);
    for( i = 0; i < n; i++ )
    {
        pt1[i] = ((CvSURFPoint*)cvGetSeqElem(objectKeypoints,ptpairs[i*2]))->pt;
        pt2[i] = ((CvSURFPoint*)cvGetSeqElem(imageKeypoints,ptpairs[i*2+1]))->pt;
    }

    _pt1 = cvMat(1, n, CV_32FC2, &pt1[0] );
    _pt2 = cvMat(1, n, CV_32FC2, &pt2[0] );
    if( !cvFindHomography( &_pt1, &_pt2, &_h, CV_RANSAC, 5 ))
        return 0;

    for( i = 0; i < 4; i++ )
    {
        double x = src_corners[i].x, y = src_corners[i].y;
        double Z = 1./(h[6]*x + h[7]*y + h[8]);
        double X = (h[0]*x + h[1]*y + h[2])*Z;
        double Y = (h[3]*x + h[4]*y + h[5])*Z;
        dst_corners[i] = cvPoint(cvRound(X), cvRound(Y));
    }

    return 1;
}

int main(int argc, char** argv)
{
    const char* object_filename = argc == 3 ? argv[1] : "box.png";
    const char* scene_filename = argc == 3 ? argv[2] : "box_in_scene.png";

    CvMemStorage* storage = cvCreateMemStorage(0);

    cvNamedWindow("Object", 1);
    cvNamedWindow("Object Correspond", 1);

    static CvScalar colors[] = 
    {
        {{0,0,255}},
        {{0,128,255}},
        {{0,255,255}},
        {{0,255,0}},
        {{255,128,0}},
        {{255,255,0}},
        {{255,0,0}},
        {{255,0,255}},
        {{255,255,255}}
    };

    IplImage* object = cvLoadImage( object_filename, CV_LOAD_IMAGE_GRAYSCALE );
    IplImage* image = cvLoadImage( scene_filename, CV_LOAD_IMAGE_GRAYSCALE );
    if( !object || !image )
    {
        fprintf( stderr, "Can not load %s and/or %s\n"
            "Usage: find_obj [<object_filename> <scene_filename>]\n",
            object_filename, scene_filename );
        exit(-1);
    }
    IplImage* object_color = cvCreateImage(cvGetSize(object), 8, 3);
    cvCvtColor( object, object_color, CV_GRAY2BGR );
    
    CvSeq *objectKeypoints = 0, *objectDescriptors = 0;
    CvSeq *imageKeypoints = 0, *imageDescriptors = 0;
    int i;
    CvSURFParams params = cvSURFParams(500, 1);

    double tt = (double)cvGetTickCount();
    cvExtractSURF( object, 0, &objectKeypoints, &objectDescriptors, storage, params );
    printf("Object Descriptors: %d\n", objectDescriptors->total);
    cvExtractSURF( image, 0, &imageKeypoints, &imageDescriptors, storage, params );
    printf("Image Descriptors: %d\n", imageDescriptors->total);
    tt = (double)cvGetTickCount() - tt;
    printf( "Extraction time = %gms\n", tt/(cvGetTickFrequency()*1000.));
    CvPoint src_corners[4] = {{0,0}, {object->width,0}, {object->width, object->height}, {0, object->height}};
    CvPoint dst_corners[4];
    IplImage* correspond = cvCreateImage( cvSize(image->width, object->height+image->height), 8, 1 );
    cvSetImageROI( correspond, cvRect( 0, 0, object->width, object->height ) );
    cvCopy( object, correspond );
    cvSetImageROI( correspond, cvRect( 0, object->height, correspond->width, correspond->height ) );
    cvCopy( image, correspond );
    cvResetImageROI( correspond );

#ifdef USE_FLANN
    printf("Using approximate nearest neighbor search\n");
#endif

    if( locatePlanarObject( objectKeypoints, objectDescriptors, imageKeypoints,
        imageDescriptors, src_corners, dst_corners ))
    {
        for( i = 0; i < 4; i++ )
        {
            CvPoint r1 = dst_corners[i%4];
            CvPoint r2 = dst_corners[(i+1)%4];
            cvLine( correspond, cvPoint(r1.x, r1.y+object->height ),
                cvPoint(r2.x, r2.y+object->height ), colors[8] );
        }
    }
    vector<int> ptpairs;
#ifdef USE_FLANN
    flannFindPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
#else
    findPairs( objectKeypoints, objectDescriptors, imageKeypoints, imageDescriptors, ptpairs );
#endif
    for( i = 0; i < (int)ptpairs.size(); i += 2 )
    {
        CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, ptpairs[i] );
        CvSURFPoint* r2 = (CvSURFPoint*)cvGetSeqElem( imageKeypoints, ptpairs[i+1] );
        cvLine( correspond, cvPointFrom32f(r1->pt),
            cvPoint(cvRound(r2->pt.x), cvRound(r2->pt.y+object->height)), colors[8] );
    }

    cvShowImage( "Object Correspond", correspond );
    for( i = 0; i < objectKeypoints->total; i++ )
    {
        CvSURFPoint* r = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
        CvPoint center;
        int radius;
        center.x = cvRound(r->pt.x);
        center.y = cvRound(r->pt.y);
        radius = cvRound(r->size*1.2/9.*2);
        cvCircle( object_color, center, radius, colors[0], 1, 8, 0 );
    }
    cvShowImage( "Object", object_color );

    cvWaitKey(0);

    cvDestroyWindow("Object");
    cvDestroyWindow("Object SURF");
    cvDestroyWindow("Object Correspond");

    return 0;
}